Matrix-based nonlinear optimization for the four-bar generation of robot hand movements

The graphical approach (GRA), vector approach (VA), and matrix approach (MA) are three popular ways for creating four-bar robotic mechanisms. GRA is commonly used in technique synthesis to create swivels for four-bar mechanisms, like flexion and extension and route instrument for robotics. GRA, on the other hand, GRA is restricted to just 3 postures from across the full range of motion needed. As a result, this circumstance generates erroneous results. Also, while VA is employed to solve advanced kinematic of four-bar robot synthesis, it is time-consuming for using. As a result, a novel way for dealing with the inverse kinematic technique for synthesizing the four-bar robotic mechanisms is required. The optimization algorithm was used to provide a new approach of non-linear optimization based on MA. Comparative investigation of GRA, VA, and MA, on the other hand, has also been carried out in order to synthesize the method. To demonstrate the application of inverse kinematics, computational experiments were carried out utilizing conventional benchmark issues. The optimization algorithm is designed with the purpose of determining the mechanical pivoting positions in both backward and the forward kinematic, and also precision and calculation time. For each task, three specific coupler points are chosen: ξ, μ, and λ. By matching the achieved coupler poses to the given ones, the outcomes of the devised optimization process employing MA are validated. Keywords: Robot, Graphical approach, Vector approach, Matrix approach, Optimization algorithm